基于机器视觉下的螺栓孔识别定位系统的设计  

Design of Bolt Hole Recognition and Location System Based on Machine Vision

作　　者：陈龙 王湘江[1] 冯栋彦[1] Chen Long;Wang Xiangjiang;Feng Dongyan

机构地区：[1]南华大学机械工程学院

出　　处：《工程机械》2023年第4期99-103,I0016,I0017,共7页Construction Machinery and Equipment

基　　金：衡阳市科技计划项目(202150034091)。

摘　　要：目前,在核电蒸汽发生器内堵口安装板的安装主要为人工操作,工作中存在劳动强度大、效率低、成本高,且工人安全得不到保证等问题。提出一种基于机器视觉的螺孔定位检测方法,该方法采用机器人自主作业平台和基于图像识别的螺栓紧固方法,利用3D相机采集图像,用图像处理软件Halcon,实现基于灰度值的图像阈值分割,采用圆形曲线算法得到完整的螺栓孔圆后,通过open-cv里的Hough circles函数得到圆的几何中心坐标和半径,提取螺栓孔位置坐标,然后通过物理坐标关系得到拍摄范围外的螺孔的坐标,最后将视觉的坐标转换到机器人坐标系下的坐标。该方法解决了在进行蒸汽发生器内复杂情况下进行安装工作,以及对安装工作比较复杂时不能一步到位的问题,实现了安装的自动、快速、准确定位功能。对螺栓孔位置精确识别技术的研究,可以实现从人眼识别到机器视觉识别的改进,可以大大提高安装堵板效率,保证作业人员在辐射环境下的安全性。At present,the installation of the plug mounting plate inside the nuclear power steam generator is mainly manual,the work is labor-intensive,inefficient and costly,and the safety of works is not guaranteed.A bolt hole location and detection method based on machine vision is proposed,which adopts a robot autonomous operation platform and a bolt fastening method based on image recognition.It uses a 3D camera to collect images and an image processing software Halcon to achieve image threshold segmentation based on grayscale values.A circular curve algorithm is used to obtain the complete bolt hole circle,and Hough circles function in open-cv is used to obtain the geometric center coordinates and radius of the circle to extract the coordinates of the bolt hole position.Then,the coordinates of the bolt holes outside the shooting range are got by physical coordinate relations,and finally the visual coordinates are converted to the coordinates under the robot coordinate system.This method solves the problem of installation in complex situations within the steam generator and the problem of not being able to do it in one step when the installation is complex and realizes the function of automatic,fast and accurate location of the installation.The research on the accurate recognition technology of bolt hole position can realize the improvement from eye recognition to machine vision recognition,greatly improve the efficiency of plug mounting plate installation and ensure the safety of the operator in the radiation environment.

关 键 词：机械视觉系统 螺栓定位 HALCON 阈值分割 

分 类 号：TM623[电气工程—电力系统及自动化] TP391.41[自动化与计算机技术—计算机应用技术]